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          无人驾驶车辆模型预测控制-读书笔记01
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        <h1 id="1-4-本书内容与结构说明"><a href="#1-4-本书内容与结构说明" class="headerlink" title="1.4 本书内容与结构说明"></a>1.4 本书内容与结构说明</h1><p>假设：本书假定无人驾驶车辆的感知系统能够对行驶环境进行充分的理解，能够得到障碍物、道路条件等环境信息，同时具备全局路径规划能力；车辆平台具备具备自动驾驶控制能力，横向与纵向控制系统能够控制车辆转向与速度，并且能向控制系统反馈车辆外部与内部信息。</p>
<h1 id="各章节内容"><a href="#各章节内容" class="headerlink" title="各章节内容"></a>各章节内容</h1><p><img src="https://i.loli.net/2020/06/16/RAJXcGP8uV5qKzf.png" alt="image-20200616144952579"></p>
<h1 id="轮胎模型"><a href="#轮胎模型" class="headerlink" title="*轮胎模型"></a>*轮胎模型</h1><h2 id="魔术公式"><a href="#魔术公式" class="headerlink" title="魔术公式**"></a>魔术公式**</h2><p><img src="https://i.loli.net/2020/06/16/xwAXrTtcaElPYhg.png" alt="image-20200616160431692"></p>
<h1 id="3-模型预测控制算法基础与仿真分析"><a href="#3-模型预测控制算法基础与仿真分析" class="headerlink" title="3 模型预测控制算法基础与仿真分析"></a>3 模型预测控制算法基础与仿真分析</h1><h2 id="3-1-2-控制理论中的描述"><a href="#3-1-2-控制理论中的描述" class="headerlink" title="3.1.2 控制理论中的描述"></a>3.1.2 控制理论中的描述</h2><p>模型预测控制在实现过程中有3个关键步骤，一般被称为3项基本原理，分别是预测模型、滚动优化和反馈校正。</p>
<h3 id="（1）-预测模型"><a href="#（1）-预测模型" class="headerlink" title="（1） 预测模型"></a>（1） 预测模型</h3><p>预测模型是模型预测控制的基础。其主要功能是根据对象的历史信息和未来输入，预测系统未来的输出。对预测模型的形式没有做严格的限定，状态方程、传递函数这类传统的模型都可以作为预测模型。对于线性稳定系统，阶跃响应、脉冲响应这类非参数模型，也可以直接作为预测模型来使用。</p>
<h3 id="（2）滚动优化"><a href="#（2）滚动优化" class="headerlink" title="（2）滚动优化"></a>（2）滚动优化</h3><p>模型预测控制通过某一性能指标的最优来确定控制作用，但优化不是一次离线作用，而是反复在线进行的。这就是滚动优化的含义，也是模型预测控制区别于传统最优控制的根本点。</p>
<h3 id="（3）反馈校正"><a href="#（3）反馈校正" class="headerlink" title="（3）反馈校正"></a>（3）反馈校正</h3><p>为了防止模型失配或者环境干扰引起控制对理想状态的偏离，在新的采样时刻，首先检测对象的实际输出，并利用这一实时信息对基于模型的预测结果进行修正，然后再进行新的优化。</p>
<p>基于这3个要素，模型预测控制的基本原理可以用图3.4表示</p>
<p><img src="https://i.loli.net/2020/06/16/z7PlfMVq6eIud3y.png" alt="image-20200616160539575"></p>
<p><img src="https://i.loli.net/2020/06/16/KWusJA4pjdSDT9m.png" alt="image-20200616160938170"></p>

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          <div class="post-toc motion-element"><ol class="nav"><li class="nav-item nav-level-1"><a class="nav-link" href="#1-4-本书内容与结构说明"><span class="nav-number">1.</span> <span class="nav-text">1.4 本书内容与结构说明</span></a></li><li class="nav-item nav-level-1"><a class="nav-link" href="#各章节内容"><span class="nav-number">2.</span> <span class="nav-text">各章节内容</span></a></li><li class="nav-item nav-level-1"><a class="nav-link" href="#轮胎模型"><span class="nav-number">3.</span> <span class="nav-text">*轮胎模型</span></a><ol class="nav-child"><li class="nav-item nav-level-2"><a class="nav-link" href="#魔术公式"><span class="nav-number">3.1.</span> <span class="nav-text">魔术公式**</span></a></li></ol></li><li class="nav-item nav-level-1"><a class="nav-link" href="#3-模型预测控制算法基础与仿真分析"><span class="nav-number">4.</span> <span class="nav-text">3 模型预测控制算法基础与仿真分析</span></a><ol class="nav-child"><li class="nav-item nav-level-2"><a class="nav-link" href="#3-1-2-控制理论中的描述"><span class="nav-number">4.1.</span> <span class="nav-text">3.1.2 控制理论中的描述</span></a><ol class="nav-child"><li class="nav-item nav-level-3"><a class="nav-link" href="#（1）-预测模型"><span class="nav-number">4.1.1.</span> <span class="nav-text">（1） 预测模型</span></a></li><li class="nav-item nav-level-3"><a class="nav-link" href="#（2）滚动优化"><span class="nav-number">4.1.2.</span> <span class="nav-text">（2）滚动优化</span></a></li><li class="nav-item nav-level-3"><a class="nav-link" href="#（3）反馈校正"><span class="nav-number">4.1.3.</span> <span class="nav-text">（3）反馈校正</span></a></li></ol></li></ol></li></ol></div>
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